slip_ring_power_check.py

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#!/usr/bin/env python
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##\author Kevin Watts
##\brief Checks that power wires of slip rings are OK

PKG = 'qualification'
import roslib; roslib.load_manifest(PKG)

import wx
import sys

from pr2_self_test_msgs.srv import ScriptDone, ScriptDoneRequest
import rospy

SRV_NAME = 'prestartup_done'

def prompt_check_wires():
    msg = "Check slip ring power cable for resistance.\n\nCheck both cables, make sure resistance is less than 1ohm.\n\nClick \"OK\" if resistance is less than 1ohm or \"Cancel\" to abort."

    dlg = wx.MessageDialog(None, msg, "Check slip ring power wires", wx.OK|wx.CANCEL)
    rv = dlg.ShowModal() == wx.ID_OK
    dlg.Destroy()
    return rv

if __name__ == '__main__':
    rospy.init_node('slip_ring_power_test')
    done_srv = rospy.ServiceProxy(SRV_NAME, ScriptDone)
    rospy.wait_for_service(SRV_NAME)
    
    app = wx.PySimpleApp()

    val = prompt_check_wires()
    if val:
        done_srv.call(result = ScriptDoneRequest.RESULT_OK)
    else:
        done_srv.call(result = ScriptDoneRequest.RESULT_FAIL, failure_msg='Slip ring power connection is bad')

    rospy.spin()
    
    sys.exit(0)